<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>Cheetah Software: ContactImpulse.cpp Source File</title>
<link href="../../tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../jquery.js"></script>
<script type="text/javascript" src="../../dynsections.js"></script>
<link href="../../navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../resize.js"></script>
<script type="text/javascript" src="../../navtreedata.js"></script>
<script type="text/javascript" src="../../navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
  $(window).load(resizeHeight);
</script>
<link href="../../search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../search/searchdata.js"></script>
<script type="text/javascript" src="../../search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="../../doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Cheetah Software
   &#160;<span id="projectnumber">1.0</span>
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "../../search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="../../index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="../../namespaces.html"><span>Namespaces</span></a></li>
      <li><a href="../../annotated.html"><span>Classes</span></a></li>
      <li class="current"><a href="../../files.html"><span>Files</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="../../search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="../../search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="../../files.html"><span>File&#160;List</span></a></li>
      <li><a href="../../globals.html"><span>File&#160;Members</span></a></li>
    </ul>
  </div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('da/d75/_contact_impulse_8cpp_source.html','../../');});
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">ContactImpulse.cpp</div>  </div>
</div><!--header-->
<div class="contents">
<a href="../../da/d75/_contact_impulse_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../da/daa/_contact_impulse_8h.html">Collision/ContactImpulse.h</a>&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d3/d68/_utilities__print_8h.html">Utilities/Utilities_print.h</a>&quot;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00005"></a><span class="lineno"><a class="line" href="../../d2/dc6/class_contact_impulse.html#a2687e2f75714f9c4f8eb445d221a72ac">    5</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d2/dc6/class_contact_impulse.html#a2687e2f75714f9c4f8eb445d221a72ac">ContactImpulse&lt;T&gt;::UpdateQdot</a>(<a class="code" href="../../de/d75/struct_f_b_model_state.html">FBModelState&lt;T&gt;</a>&amp; state) {</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;  CC::_nContact = CC::_CheckContact();</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;  <span class="keywordflow">if</span> (CC::_nContact &gt; 0) {</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a> qdot(_nDof);</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; 6; ++i) {</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;      qdot[i] = state.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a>[i];</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    }</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; _nDof - 6; ++i) {</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;      qdot[i + 6] = state.<a class="code" href="../../de/d75/struct_f_b_model_state.html#a97f42a6014fc5d9fd3dc22f7158099f4">qd</a>[i];</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    }</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    _UpdateVelocity(qdot);</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; 6; ++i) {</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;      state.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a>[i] = qdot[i];</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    }</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; _nDof - 6; ++i) {</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      state.<a class="code" href="../../de/d75/struct_f_b_model_state.html#a97f42a6014fc5d9fd3dc22f7158099f4">qd</a>[i] = qdot[i + 6];</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    }</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="comment">// Update contact force w.r.t. global frame</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="comment">// This is not neccessary for dynamics, but</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="comment">// the global contact forces are used for</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="comment">// graphics</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; CC::_nContact; ++i) {</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;      <span class="comment">// Divide by dt to convert impulses to forces</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;      CC::_cp_force_list[CC::_idx_list[i]] =</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;          CC::_cp_frame_list[i] * CC::_cp_local_force_list[i] / _dt;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    }</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  }</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;}</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="../../d2/dc6/class_contact_impulse.html#a35e8700c162b46af46495eb0e93f7b62">   39</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d2/dc6/class_contact_impulse.html#a35e8700c162b46af46495eb0e93f7b62">ContactImpulse&lt;T&gt;::_UpdateVelocity</a>(<a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a>&amp; qdot) {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  T* lambda_list_x = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  T* lambda_list_y = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  T* lambda_list_z = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  T* des_vel_list_z = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  T* des_vel_list_tan = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  T* min_list_z = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  T* max_list_z = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  T* min_list_tan = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  T* max_list_tan = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned&lt;DVec&lt;T&gt;</a> &gt; AinvB_list_x(CC::_nContact);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned&lt;DVec&lt;T&gt;</a> &gt; AinvB_list_y(CC::_nContact);</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned&lt;DVec&lt;T&gt;</a> &gt; AinvB_list_z(CC::_nContact);</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned&lt;D3Mat&lt;T&gt;</a> &gt; Jc_list(CC::_nContact);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="comment">// For check</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned&lt;Vec3&lt;T&gt;</a> &gt; cp_vel_list(CC::_nContact);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a> AinvB;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> cp_local_vel;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> direction;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  CC::_model-&gt;contactJacobians();</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="comment">// Prepare Matrix and Vector</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; CC::_nContact; ++i) {</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="comment">// Lambda &amp; Ainv*J&#39;</span></div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    lambda_list_x[i] = CC::_model-&gt;applyTestForce(</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        CC::_idx_list[i], CC::_cp_frame_list[i].<span class="keyword">template</span> block&lt;3, 1&gt;(0, 0),</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        AinvB_list_x[i]);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    lambda_list_x[i] = 1. / lambda_list_x[i];</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    lambda_list_y[i] = CC::_model-&gt;applyTestForce(</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        CC::_idx_list[i], CC::_cp_frame_list[i].<span class="keyword">template</span> block&lt;3, 1&gt;(0, 1),</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        AinvB_list_y[i]);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    lambda_list_y[i] = 1. / lambda_list_y[i];</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    lambda_list_z[i] = CC::_model-&gt;applyTestForce(</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        CC::_idx_list[i], CC::_cp_frame_list[i].<span class="keyword">template</span> block&lt;3, 1&gt;(0, 2),</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        AinvB_list_z[i]);</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    lambda_list_z[i] = 1. / lambda_list_z[i];</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="comment">// Local Velocity</span></div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    cp_local_vel =</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        CC::_cp_frame_list[i].transpose() * CC::_model-&gt;_vGC[CC::_idx_list[i]];</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="comment">// Desired Velocity</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    des_vel_list_tan[i] = 0.;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordflow">if</span> (cp_local_vel[2] &lt; 0.) {</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      des_vel_list_z[i] =</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;          -CC::_cp_resti_list[i] * cp_local_vel[2] -</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          _penetration_recover_ratio * CC::_cp_penetration_list[i];</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      des_vel_list_z[i] =</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          std::max(cp_local_vel[2],</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                   -_penetration_recover_ratio * CC::_cp_penetration_list[i]);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    }</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="comment">// Contact Jacobian</span></div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    Jc_list[i] =</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        CC::_cp_frame_list[i].transpose() * CC::_model-&gt;_Jc[CC::_idx_list[i]];</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    min_list_z[i] = 0.;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    max_list_z[i] = 1.e5;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  }</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="comment">// Update Velocity &amp; Find Impulse Force</span></div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> iter(0); iter &lt; _iter_lim; ++iter) {</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    _iter_sum = 0;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="comment">// Normal (Z) *********************************************************</span></div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    _UpdateQdotOneDirection(2, Jc_list, lambda_list_z, AinvB_list_z,</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                            des_vel_list_z, min_list_z, max_list_z, qdot);</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="comment">// X ******************************************************************</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; CC::_nContact; ++i) {</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      max_list_tan[i] = CC::_cp_mu_list[i] * CC::_cp_local_force_list[i][2];</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      min_list_tan[i] = -max_list_tan[i];</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    }</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    _UpdateQdotOneDirection(0, Jc_list, lambda_list_x, AinvB_list_x,</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                            des_vel_list_tan, min_list_tan, max_list_tan, qdot);</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="comment">// Y ******************************************************************</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    _UpdateQdotOneDirection(1, Jc_list, lambda_list_y, AinvB_list_y,</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                            des_vel_list_tan, min_list_tan, max_list_tan, qdot);</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">if</span> (_iter_sum &lt; 5) {</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="comment">// printf(&quot;converged: %lu \n&quot;, _iter_sum);</span></div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    }</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    _iter_sum = 0;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  }</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keyword">delete</span>[] lambda_list_x;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keyword">delete</span>[] lambda_list_y;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keyword">delete</span>[] lambda_list_z;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keyword">delete</span>[] des_vel_list_z;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keyword">delete</span>[] des_vel_list_tan;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keyword">delete</span>[] min_list_z;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keyword">delete</span>[] max_list_z;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keyword">delete</span>[] min_list_tan;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="keyword">delete</span>[] max_list_tan;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;}</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="../../d2/dc6/class_contact_impulse.html#afd1ed9e46beb5b9085d264b51140e1ca">  149</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d2/dc6/class_contact_impulse.html#afd1ed9e46beb5b9085d264b51140e1ca">ContactImpulse&lt;T&gt;::_UpdateQdotOneDirection</a>(</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keywordtype">size_t</span> idx, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="code" href="../../d9/d8e/cpp_types_8h.html#a190e396ab8cb0eb974ad2a5195edcb24">D3Mat&lt;T&gt;</a> &gt;&amp; Jc_list, <span class="keyword">const</span> T* lambda_list,</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a> &gt; AinvB_list, <span class="keyword">const</span> T* des_vel_list,</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keyword">const</span> T* min_list, <span class="keyword">const</span> T* max_list, <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a>&amp; qdot) {</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  T dforce, pre_force, cp_vel, dforce_sum;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> iter(0); iter &lt; _iter_lim; ++iter) {</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    dforce_sum = 0;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; CC::_nContact; ++i) {</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      cp_vel = (Jc_list[i].block(idx, 0, 1, _nDof) * qdot)(0, 0);</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      dforce = (des_vel_list[i] - cp_vel) * lambda_list[i];</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      pre_force = CC::_cp_local_force_list[i][idx];</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      CC::_cp_local_force_list[i][idx] =</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          std::max(min_list[i], std::min(pre_force + dforce, max_list[i]));</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      dforce = CC::_cp_local_force_list[i][idx] - pre_force;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      qdot += (AinvB_list[i] * dforce);</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      dforce_sum += fabs(dforce);</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    }</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keywordflow">if</span> (dforce_sum &lt; _tol) {</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      _iter_sum += iter;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="comment">// printf(&quot;dforce sum is small enough: %f\n&quot;, dforce_sum);</span></div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    }</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  }</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;}</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="keyword">template</span> <span class="keyword">class </span><a class="code" href="../../d2/dc6/class_contact_impulse.html">ContactImpulse&lt;double&gt;</a>;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="keyword">template</span> <span class="keyword">class </span><a class="code" href="../../d2/dc6/class_contact_impulse.html">ContactImpulse&lt;float&gt;</a>;</div><div class="ttc" id="class_contact_impulse_html_a35e8700c162b46af46495eb0e93f7b62"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a35e8700c162b46af46495eb0e93f7b62">ContactImpulse::_UpdateVelocity</a></div><div class="ttdeci">void _UpdateVelocity(DVec&lt; T &gt; &amp;qdot)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d75/_contact_impulse_8cpp_source.html#l00039">ContactImpulse.cpp:39</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_abf1fc0221d6b92d103193524a2046ffc"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">FBModelState::bodyVelocity</a></div><div class="ttdeci">SVec&lt; T &gt; bodyVelocity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00042">FloatingBaseModel.h:42</a></div></div>
<div class="ttc" id="class_contact_impulse_html_afd1ed9e46beb5b9085d264b51140e1ca"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#afd1ed9e46beb5b9085d264b51140e1ca">ContactImpulse::_UpdateQdotOneDirection</a></div><div class="ttdeci">void _UpdateQdotOneDirection(size_t idx, const vectorAligned&lt; D3Mat&lt; T &gt; &gt; &amp;Jc_list, const T *lambda_list, const vectorAligned&lt; DVec&lt; T &gt; &gt; AinvB_list, const T *des_vel_list, const T *min_list, const T *max_list, DVec&lt; T &gt; &amp;qdot)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d75/_contact_impulse_8cpp_source.html#l00149">ContactImpulse.cpp:149</a></div></div>
<div class="ttc" id="class_contact_impulse_html_a2687e2f75714f9c4f8eb445d221a72ac"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a2687e2f75714f9c4f8eb445d221a72ac">ContactImpulse::UpdateQdot</a></div><div class="ttdeci">virtual void UpdateQdot(FBModelState&lt; T &gt; &amp;state)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d75/_contact_impulse_8cpp_source.html#l00005">ContactImpulse.cpp:5</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_a97f42a6014fc5d9fd3dc22f7158099f4"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#a97f42a6014fc5d9fd3dc22f7158099f4">FBModelState::qd</a></div><div class="ttdeci">DVec&lt; T &gt; qd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00044">FloatingBaseModel.h:44</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="_utilities__print_8h_html"><div class="ttname"><a href="../../d3/d68/_utilities__print_8h.html">Utilities_print.h</a></div></div>
<div class="ttc" id="class_contact_impulse_html"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html">ContactImpulse</a></div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00015">ContactImpulse.h:15</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a190e396ab8cb0eb974ad2a5195edcb24"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a190e396ab8cb0eb974ad2a5195edcb24">D3Mat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, Eigen::Dynamic &gt; D3Mat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00114">cppTypes.h:114</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html">FBModelState</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00038">FloatingBaseModel.h:38</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a078e1eaa8a3af13cef27a0a8d0c1302e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a></div><div class="ttdeci">typename std::vector&lt; T, Eigen::aligned_allocator&lt; T &gt;&gt; vectorAligned</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00118">cppTypes.h:118</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae2e5a0a178a2c528d8aa939f85db7a3e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, 1 &gt; DVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00102">cppTypes.h:102</a></div></div>
<div class="ttc" id="_contact_impulse_8h_html"><div class="ttname"><a href="../../da/daa/_contact_impulse_8h.html">ContactImpulse.h</a></div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="../../dir_43e0a1f539e00dcfa1a6bc4d4fee4fc2.html">home</a></li><li class="navelem"><a class="el" href="../../dir_61bfb0b3cdda81b1b0355ba34eb3b1eb.html">dhkim</a></li><li class="navelem"><a class="el" href="../../dir_adee5b101e079090017bb4e91c628ead.html">Public_Repository</a></li><li class="navelem"><a class="el" href="../../dir_7fc07a7b97001e7b1d18e11da761e2de.html">Cheetah-Software</a></li><li class="navelem"><a class="el" href="../../dir_860379c26524a894b3cf97b5b1ba5bdb.html">common</a></li><li class="navelem"><a class="el" href="../../dir_054bbb67b14bc4d9ad4b8f9fd2c17d22.html">src</a></li><li class="navelem"><a class="el" href="../../dir_dded68ba92c45ca194baa1aa992d1d3d.html">Collision</a></li><li class="navelem"><a class="el" href="../../da/d75/_contact_impulse_8cpp.html">ContactImpulse.cpp</a></li>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="../../doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
  </ul>
</div>
</body>
</html>
